Comments (2)
Related to #73 and UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation#19
The Open Dynamics Engine fmax
parameter was set to the joint's effort limit in gazebo_ros_control
here.
It appears to default to zero in gazebo_ros2_control
, and although it can be set via a URDF <dynamics>
tag's friction
attribute, that's not obvious or intutitive (Took me a while to find #73 to figure it out.)
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Hi @danzimmerman, I appreciate your explanation about the 'fmax' parameter and its implications in gazebo_ros2_control. Based on my experience, I suggest that we consider changing the default value of the 'fmax' parameter. This might help to prevent confusion and unintended errors, especially for newcomers in this field.
Alternatively, adding a clear warning in the documentation about the potential issues when the dynamics tags are not properly set could be beneficial. This could highlight the importance of setting these tags and the potential problems that might occur if they are omitted.
I believe these changes could significantly improve user experience and make it easier for beginners to understand and use gazebo_ros2_control effectively. Thanks again for your insightful explanation.
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Related Issues (20)
- Issue running example script in Harmonic
- Loading controller failed,Exception thrown during init stage with message: expected [string] got [string_array] HOT 7
- Errors after launching demos: controller manager issue? HOT 7
- How can solve this problem? HOT 3
- How to set the Effort while using JointGroupVelocityController in Gazebo HOT 3
- No rule to make target needed by 'libgazebo_ros2_control.so' HOT 2
- How do I handle this issue? HOT 2
- Parser Error Couldn't parse parameter override rule - loading tricycle_controller from ros2_control HOT 20
- Do mimic joints on gazebo_ros2_control work for grippers with one part interacting with the rest? (1 to 5 Gripper)
- Parameter 'hold_joints' has already been declared, parameter 'hold_joints' has already been declared
- Error in destruction of rcl subscription handle: Failed to delete datareader HOT 1
- missing header ignition/common/Profile.hh when installing from source HOT 2
- (Sorry used wrong account before)
- Position_controller not working properly as wheel controller of mobile robot HOT 4
- State interface `velocity` is wrong with `position` command interfaces
- gazebo_ros2_control crashes when trying to load controller_manager HOT 9
- type 'position_controllers/JointGroupPositionController') not found HOT 2
- When using an namespace for my omniroboter the controller_manager doesn't get an update_rate HOT 22
- Using multiple robots with different namespaces isn't working HOT 1
- Unstable behaviour at startup in the robot using gazebo_ros2_control HOT 14
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